OpenRaiser/Intern-Atlas huggingface dataset:
Intent-Driven LLM Ensemble Planning for Flexible Multi-Robot Disassembly: Demonstration on EV Batteries
Venue: arXiv cs.RO 2025
Year: 2025

This paper addresses the problem of planning complex manipulation tasks, in which multiple robots with different end-effectors and capabilities, informed by computer vision, must plan and execute concatenated sequences of actions on a variety of objects that can appear in arbitrary positions and configurations in unstructured scenes. We propose an intent-driven planning pipeline which can robustly construct such action sequences with varying degrees of supervisory input from a human using simple language instructions. The pipeline integrates: (i) perception-to-text scene encoding, (ii) an ensemble of large language models (LLMs) that generate candidate removal sequences based on the operator's intent, (iii) an LLM-based verifier that enforces formatting and precedence constraints, and (iv) a deterministic consistency filter that rejects hallucinated objects. The pipeline is evaluated on an example task in which two robot arms work collaboratively to dismantle an Electric Vehicle battery for recycling applications. A variety of components must be grasped and removed in specific sequences, determined by human instructions and/or by task-order feasibility decisions made by the autonomous system. On 200 real scenes with 600 operator prompts across five component classes, we used metrics of full-sequence correctness and next-task correctness to evaluate and compare five LLM-based planners (including ablation analyses of pipeline components). We also evaluated the LLM-based human interface in terms of time to execution and NASA TLX with human participant experiments. Results indicate that our ensemble-with-verification approach reliably maps operator intent to safe, executable multi-robot plans while maintaining low user effort.
CEPerFed: Communication-Efficient Personalized Federated Learning for Multi-Pulse MRI Classification
Venue: arXiv cs.LG 2025
Year: 2025

Multi-pulse magnetic resonance imaging (MRI) is widely utilized for clinical practice such as Alzheimer's disease diagnosis. To train a robust model for multi-pulse MRI classification, it requires large and diverse data from various medical institutions while protecting privacy by preventing raw data sharing across institutions. Although federated learning (FL) is a feasible solution to address this issue, it poses challenges of model convergence due to the effect of data heterogeneity and substantial communication overhead due to large numbers of parameters transmitted within the model. To address these challenges, we propose CEPerFed, a communication-efficient personalized FL method. It mitigates the effect of data heterogeneity by incorporating client-side historical risk gradients and historical mean gradients to coordinate local and global optimization. The former is used to weight the contributions from other clients, enhancing the reliability of local updates, while the latter enforces consistency between local updates and the global optimization direction to ensure stable convergence across heterogeneous data distributions. To address the high communication overhead, we propose a hierarchical SVD (HSVD) strategy that transmits only the most critical information required for model updates. Experiments on five classification tasks demonstrate the effectiveness of the CEPerFed method. The code will be released upon acceptance at https://github.com/LD0416/CEPerFed.
Integrating BIM and UAV-based photogrammetry for Automated 3D Structure Model Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

The advancement of UAV technology has enabled efficient, non-contact structural health monitoring. Combined with photogrammetry, UAVs can capture high-resolution scans and reconstruct detailed 3D models of infrastructure. However, a key challenge remains in segmenting specific structural components from these models-a process traditionally reliant on time-consuming and error-prone manual labeling. To address this issue, we propose a machine learning-based framework for automated segmentation of 3D point clouds. Our approach uses the complementary strengths of real-world UAV-scanned point clouds and synthetic data generated from Building Information Modeling (BIM) to overcome the limitations associated with manual labeling. Validation on a railroad track dataset demonstrated high accuracy in identifying and segmenting major components such as rails and crossties. Moreover, by using smaller-scale datasets supplemented with BIM data, the framework significantly reduced training time while maintaining reasonable segmentation accuracy. This automated approach improves the precision and efficiency of 3D infrastructure model segmentation and advances the integration of UAV and BIM technologies in structural health monitoring and infrastructure management.
One Dinomaly2 Detect Them All: A Unified Framework for Full-Spectrum Unsupervised Anomaly Detection
Venue: arXiv cs.CV 2025
Year: 2025

Unsupervised anomaly detection (UAD) has evolved from building specialized single-class models to unified multi-class models, yet existing multi-class models significantly underperform the most advanced one-for-one counterparts. Moreover, the field has fragmented into specialized methods tailored to specific scenarios (multi-class, 3D, few-shot, etc.), creating deployment barriers and highlighting the need for a unified solution. In this paper, we present Dinomaly2, the first unified framework for full-spectrum image UAD, which bridges the performance gap in multi-class models while seamlessly extending across diverse data modalities and task settings. Guided by the "less is more" philosophy, we demonstrate that the orchestration of five simple element achieves superior performance in a standard reconstruction-based framework. This methodological minimalism enables natural extension across diverse tasks without modification, establishing that simplicity is the foundation of true universality. Extensive experiments on 12 UAD benchmarks demonstrate Dinomaly2's full-spectrum superiority across multiple modalities (2D, multi-view, RGB-3D, RGB-IR), task settings (single-class, multi-class, inference-unified multi-class, few-shot) and application domains (industrial, biological, outdoor). For example, our multi-class model achieves unprecedented 99.9% and 99.3% image-level (I-) AUROC on MVTec-AD and VisA respectively. For multi-view and multi-modal inspection, Dinomaly2 demonstrates state-of-the-art performance with minimum adaptations. Moreover, using only 8 normal examples per class, our method surpasses previous full-shot models, achieving 98.7% and 97.4% I-AUROC on MVTec-AD and VisA. The combination of minimalistic design, computational scalability, and universal applicability positions Dinomaly2 as a unified solution for the full spectrum of real-world anomaly detection applications.
Mode Switching-based STAR-RIS with Discrete Phase Shifters
Venue: arXiv cs.IT 2025
Year: 2025

The increasing demand for cost-effective, high-speed Internet of Things (IoT) applications in the coming sixth-generation (6G) networks has driven research toward maximizing spectral efficiency and simplifying hardware designs. In this context, we investigate the sum rate maximization problem for a mode-switching discrete-phase shifters simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS)-aided multi-antenna access point network, emphasizing hardware efficiency and reduced cost. A mixed-integer nonlinear optimization framework is formulated for joint optimization of the active beamforming matrix, user power allocation, and STAR-RIS phase shift vectors, including binary transmission/reflection amplitudes and discrete phase shifters. To solve the formulated problem, we employ a block coordinate descent method, dividing it into three subproblems tackled using difference-of-concave programming and combinatorial optimization techniques. Numerical results validate the effectiveness of the proposed joint optimization approach, consistently achieving superior sum rate performance compared to partial optimization methods, thereby underscoring its potential for efficient and scalable 6G IoT systems.
ImaGGen: Zero-Shot Generation of Co-Speech Semantic Gestures Grounded in Language and Image Input
Venue: arXiv cs.HC 2025
Year: 2025

Human communication combines speech with expressive nonverbal cues such as hand gestures that serve manifold communicative functions. Yet, current generative gesture generation approaches are restricted to simple, repetitive beat gestures that accompany the rhythm of speaking but do not contribute to communicating semantic meaning. This paper tackles a core challenge in co-speech gesture synthesis: generating iconic or deictic gestures that are semantically coherent with a verbal utterance. Such gestures cannot be derived from language input alone, which inherently lacks the visual meaning that is often carried autonomously by gestures. We therefore introduce a zero-shot system that generates gestures from a given language input and additionally is informed by imagistic input, without manual annotation or human intervention. Our method integrates an image analysis pipeline that extracts key object properties such as shape, symmetry, and alignment, together with a semantic matching module that links these visual details to spoken text. An inverse kinematics engine then synthesizes iconic and deictic gestures and combines them with co-generated natural beat gestures for coherent multimodal communication. A comprehensive user study demonstrates the effectiveness of our approach. In scenarios where speech alone was ambiguous, gestures generated by our system significantly improved participants' ability to identify object properties, confirming their interpretability and communicative value. While challenges remain in representing complex shapes, our results highlight the importance of context-aware semantic gestures for creating expressive and collaborative virtual agents or avatars, marking a substantial step forward towards efficient and robust, embodied human-agent interaction. More information and example videos are available here: https://review-anon-io.github.io/ImaGGen.github.io/
SARSteer: Safeguarding Large Audio Language Models via Safe-Ablated Refusal Steering
Venue: arXiv cs.SD 2025
Year: 2025

Large Audio-Language Models (LALMs) are becoming essential as a powerful multimodal backbone for real-world applications. However, recent studies show that audio inputs can more easily elicit harmful responses than text, exposing new risks toward deployment. While safety alignment has made initial advances in LLMs and Large Vision-Language Models (LVLMs), we find that vanilla adaptation of these approaches to LALMs faces two key limitations: 1) LLM-based steering fails under audio input due to the large distributional gap between activations, and 2) prompt-based defenses induce over-refusals on benign-speech queries. To address these challenges, we propose Safe-Ablated Refusal Steering (SARSteer), the first inference-time defense framework for LALMs. Specifically, SARSteer leverages text-derived refusal steering to enforce rejection without manipulating audio inputs and introduces decomposed safe-space ablation to mitigate over-refusal. Extensive experiments demonstrate that SARSteer significantly improves harmful-query refusal while preserving benign responses, establishing a principled step toward safety alignment in LALMs.
Near-Optimal Property Testers for Pattern Matching
Venue: arXiv cs.DS 2025
Year: 2025

The classic exact pattern matching problem, given two strings -- a pattern $P$ of length $m$ and a text $T$ of length $n$ -- asks whether $P$ occurs as a substring of $T$. A property tester for the problem needs to distinguish (with high probability) the following two cases for some threshold $k$: the YES case, where $P$ occurs as a substring of $T$, and the NO case, where $P$ has Hamming distance greater than $k$ from every substring of $T$, that is, $P$ has no $k$-mismatch occurrence in $T$. In this work, we provide adaptive and non-adaptive property testers for the exact pattern matching problem, jointly covering the whole spectrum of parameters. We further establish unconditional lower bounds demonstrating that the time and query complexities of our algorithms are optimal, up to $\mathrm{polylog}\, n$ factors hidden within the $\tilde O(\cdot)$ notation below. In the most studied regime of $n=m+Θ(m)$, our non-adaptive property tester has the time complexity of $\tilde O(n/\sqrt{k})$, and a matching lower bound remains valid for the query complexity of adaptive algorithms. This improves both upon a folklore solution that attains the optimal query complexity but requires $Ω(n)$ time, and upon the only previously known sublinear-time property tester, by Chan, Golan, Kociumaka, Kopelowitz, and Porat [STOC 2020], with time complexity $\tilde O(n/\sqrt[3]{k})$. The aforementioned results remain valid for $n=m+Ω(m)$, where our optimal running time $\tilde O(\sqrt{nm/k}+n/k)$ improves upon the previously best time complexity of $\tilde O(\sqrt[3]{n^2m/k}+n/k)$. In the regime of $n=m+o(m)$, which has not been targeted in any previous work, we establish a surprising separation between adaptive and non-adaptive algorithms, whose optimal time and query complexities are $\tilde O(\sqrt{(n-m+1)m/k}+n/k)$ and $\tilde O(\min(n\sqrt{n-m+1}/k,\sqrt{nm/k}+n/k))$, respectively.
LILO: Bayesian Optimization with Interactive Natural Language Feedback
Venue: arXiv cs.LG 2025
Year: 2025

For many real-world applications, feedback is essential in translating complex, nuanced, or subjective goals into quantifiable optimization objectives. We propose a language-in-the-loop framework that uses a large language model (LLM) to convert unstructured feedback in the form of natural language into scalar utilities to conduct BO over a numeric search space. Unlike preferential BO, which only accepts restricted feedback formats and requires customized models for each domain-specific problem, our approach leverages LLMs to turn varied types of textual feedback into consistent utility signals and to easily include flexible user priors without manual kernel design. At the same time, our method maintains the sample efficiency and principled uncertainty quantification of BO. We show that this hybrid method not only provides a more natural interface to the decision maker but also outperforms conventional BO baselines and LLM-only optimizers, particularly in feedback-limited regimes.
Towards Mining Effective Pedagogical Strategies from Learner-LLM Educational Dialogues
Venue: arXiv cs.CL 2025
Year: 2025

Dialogue plays a crucial role in educational settings, yet existing evaluation methods for educational applications of large language models (LLMs) primarily focus on technical performance or learning outcomes, often neglecting attention to learner-LLM interactions. To narrow this gap, this AIED Doctoral Consortium paper presents an ongoing study employing a dialogue analysis approach to identify effective pedagogical strategies from learner-LLM dialogues. The proposed approach involves dialogue data collection, dialogue act (DA) annotation, DA pattern mining, and predictive model building. Early insights are outlined as an initial step toward future research. The work underscores the need to evaluate LLM-based educational applications by focusing on dialogue dynamics and pedagogical strategies.
Discrimination, intelligence artificielle et decisions algorithmiques
Venue: arXiv cs.CY 2025
Year: 2025

Artificial intelligence (AI) has a huge impact on our personal lives and also on our democratic society as a whole. While AI offers vast opportunities for the benefit of people, its potential to embed and perpetuate bias and discrimination remains one of the most pressing challenges deriving from its increasing use. This new study, which was prepared by Prof. Frederik Zuiderveen Borgesius for the Anti-discrimination Department of the Council of Europe, elaborates on the risks of discrimination caused by algorithmic decision-making and other types of artificial intelligence (AI).
Unifying the Landscape of Super-Logarithmic Dynamic Cell-Probe Lower Bounds
Venue: arXiv cs.CC 2025
Year: 2025

We prove a general translation theorem for converting one-way communication lower bounds over a product distribution to dynamic cell-probe lower bounds. Specifically, we consider a class of problems considered in [Pat10] where: 1. $S_1, \ldots, S_m \in \{0, 1\}^n$ are given and publicly known. 2. $T \in \{0, 1\}^n$ is a sequence of updates, each taking $t_u$ time. 3. For a given $Q \in [m]$, we must output $f(S_Q, T)$ in $t_q$ time. Our main result shows that for a "hard" function $f$, for which it is difficult to obtain a non-trivial advantage over random guessing with one-way communication under some product distribution over $S_Q$ and $T$ (for example, a uniform distribution), then the above explicit dynamic cell-probe problem must have $\max \{ t_u, t_q \} \geq \tildeΩ(\log^{3/2}(n))$ if $m = Ω(n^{0.99})$. This result extends and unifies the super-logarithmic dynamic data structure lower bounds from [LWY20] and [LY25] into a more general framework. From a technical perspective, our approach merges the cell-sampling and chronogram techniques developed in [LWY20] and [LY25] with the new static data structure lower bound methods from [KW20] and [Ko25], thereby merging all known state-of-the-art cell-probe lower-bound techniques into one. As a direct consequence of our method, we establish a super-logarithmic lower bound against the Multiphase Problem [Pat10] for the case where the data structure outputs the Inner Product (mod 2) of $S_Q$ and $T$. We suspect further applications of this general method towards showing super-logarithmic dynamic cell-probe lower bounds. We list some example applications of our general method, including a novel technique for a one-way communication lower bound against small-advantage protocols for a product distribution using average min-entropy, which could be of independent interest.
RaindropGS: A Benchmark for 3D Gaussian Splatting under Raindrop Conditions
Venue: arXiv cs.CV 2025
Year: 2025

3D Gaussian Splatting (3DGS) under raindrop conditions suffers from severe occlusions and optical distortions caused by raindrop contamination on the camera lens, substantially degrading reconstruction quality. Existing benchmarks typically evaluate 3DGS using synthetic raindrop images with known camera poses (constrained images), assuming ideal conditions. However, in real-world scenarios, raindrops often interfere with accurate camera pose estimation and point cloud initialization. Moreover, a significant domain gap between synthetic and real raindrops further impairs generalization. To tackle these issues, we introduce RaindropGS, a comprehensive benchmark designed to evaluate the full 3DGS pipeline-from unconstrained, raindrop-corrupted images to clear 3DGS reconstructions. Specifically, the whole benchmark pipeline consists of three parts: data preparation, data processing, and raindrop-aware 3DGS evaluation, including types of raindrop interference, camera pose estimation and point cloud initialization, single image rain removal comparison, and 3D Gaussian training comparison. First, we collect a real-world raindrop reconstruction dataset, in which each scene contains three aligned image sets: raindrop-focused, background-focused, and rain-free ground truth, enabling a comprehensive evaluation of reconstruction quality under different focus conditions. Through comprehensive experiments and analyses, we reveal critical insights into the performance limitations of existing 3DGS methods on unconstrained raindrop images and the varying impact of different pipeline components: the impact of camera focus position on 3DGS reconstruction performance, and the interference caused by inaccurate pose and point cloud initialization on reconstruction. These insights establish clear directions for developing more robust 3DGS methods under raindrop conditions.
UltraCUA: A Foundation Model for Computer Use Agents with Hybrid Action
Venue: arXiv cs.CV 2025
Year: 2025

Computer-use agents face a fundamental limitation. They rely exclusively on primitive GUI actions (click, type, scroll), creating brittle execution chains prone to cascading failures. While API-driven agents harness rich capabilities through structured interfaces and tools, computer-use agents remain constrained to low-level visual interactions. We present UltraCUA, a foundation model that transcends this limitation through hybrid action-seamlessly unifying primitive GUI operations with high-level tool execution. Our innovation rests on four critical advances. First, an automated pipeline extracts and scales tool capabilities from software documentation and code repositories. Second, a synthetic data engine produces 17,000+ verifiable tasks capturing real-world computer-use complexity. Third, comprehensive hybrid action trajectory collection incorporates both GUI primitives and strategic tool calls. Fourth, a two-stage training methodology combines supervised fine-tuning with online reinforcement learning, enabling intelligent action selection between GUI and API. Evaluation with our 7B and 32B UltraCUA models reveals transformative performance gains. On OSWorld, UltraCUA achieves 22% relative improvement while executing 11% faster than existing approaches, averagely. Cross-domain validation on WindowsAgentArena demonstrates robust generalization with 21.7% success rate, surpassing Windows-trained baselines. The hybrid action paradigm proves essential, reducing error propagation while improving execution efficiency. This work establishes a scalable paradigm bridging primitive GUI interactions and high-level tool intelligence, enabling more resilient and adaptable computer use agents for diverse environments and complex real-world tasks.
Vibe Coding: Toward an AI-Native Paradigm for Semantic and Intent-Driven Programming
Venue: arXiv cs.SE 2025
Year: 2025

Recent advances in large language models have enabled developers to generate software by conversing with artificial intelligence systems rather than writing code directly. This paper introduces vibe coding, an emerging AI-native programming paradigm in which a developer specifies high-level functional intent along with qualitative descriptors of the desired "vibe" (tone, style, or emotional resonance). An intelligent agent then transforms those specifications into executable software. We formalize the definition of vibe coding and propose a reference architecture that includes an intent parser, a semantic embedding engine, an agentic code generator, and an interactive feedback loop. A hypothetical implementation is described. We compare vibe coding with declarative, functional, and prompt-based programming, and we discuss its implications for software engineering, human-AI collaboration, and responsible AI practice. Finally, we examine reported productivity gains and democratizing effects, review recent studies that highlight vulnerabilities and potential slowdowns, identify key challenges such as alignment, reproducibility, bias, explainability, maintainability, and security, and outline future directions and open research questions.